blensor 软件使用

1. blensor 软件下载安装

点云仿真软件Blensor介绍 - JusticeZQ - 博客园 (cnblogs.com)

参考这篇文章，进行基础的安装以及官方demo的跑通，这里默认已经掌握了模型的导入以及最基本代码的跑通。在我使用时遇到了一点问题，就是我的模型已经是点云再直接导入到blensor中是无法直接采样的，所以这里我先将我的点云文件进行了重建，代码如下：

import open3d as o3d
import os


data = r'path_to_file'##这里改为文件地址

for i in range(150):

    # 读取点云数据
    pcd = o3d.io.read_point_cloud(os.path.join(data +"\\raw_model_%d.ply" % i))

    # 创建泊松网格对象
    poisson_mesh, densities = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd)

    # 对泊松网格进行平滑处理
    poisson_mesh = poisson_mesh.filter_smooth_taubin(number_of_iterations=5)

    # 保存重建结果
    o3d.io.write_triangle_mesh(os.path.join(data + '\\raw_model_%d.ply' % i), poisson_mesh)
    print(i)

2. blensor使用

在上面重建完成后就是要进行文件的导入了，单个模型的导入可以直接手动完成，但我使用的模型较多，而blensor也提供了相关的python代码方便使用。

for k in range(150):
    file_path = r"file_path"##这里改为导入文件地址
    file_path = os.path.join(file_path+'\\raw_model_%d.ply' % k)
    #先对之前的模型进行删除
    bpy.ops.object.select_all(action='DESELECT')
    bpy.ops.object.select_by_type(type='MESH')
    bpy.ops.object.delete()
    #导入模型
    bpy.ops.import_mesh.ply(filepath = file_path) 
    #选择相机并将相机设为活跃目标   
    bpy.ops.object.select_by_type(type='CAMERA') 
    objects = bpy.context.scene.objects
    object_name = "Camera"  
    for obj in objects:
        if obj.name == object_name:
            obj.select = True
            bpy.context.scene.objects.active = obj
        else:
            obj.select = False

导入完模型后，需要对模型进行扫描采样工作，这里用的也是tof相机，有关lidar相机的使用之后会再补充。由于tof相机是直接拍照采样，所以这里设置了14个点位进行一个环绕相机的实现（或者可以直接用随机取位置然后run很多次/狗头），

for n in range(10):
        #这里是通过改变相机采样的角度来简单实现梯度采样
        l = [25,30,35,40,45,50,55,60,65,70]
        bpy.data.objects["Camera"].tof_lens_angle_w = l[n]
        bpy.data.objects["Camera"].tof_lens_angle_h = l[n]
        
        for item in bpy.data.objects:
            if item.type == 'MESH' and item.name.startswith('NoisyScan'):
                bpy.data.objects.remove(item)
            elif item.type == 'MESH' and item.name.startswith('Scan'):
                bpy.data.objects.remove(item)
         
        bpy.ops.blensor.delete_scans()
        bpy.ops.blensor.scan()

        """location"""
        dir_path = "C:\\Users\\25808\\Desktop\\new\\Data10\\raw_model_%d\\tof" % k
        if not os.path.exists(dir_path):
            os.makedirs(dir_path)
        r = 5#这个是环绕相机的半径也可以自己修改
        j = 0
        while j <14:
            if j == 0:
                x = r
                y = 0
                z = 0
            elif j == 1:
                x = -r
                y = 0
                z = 0
            elif j == 2:
                x = 0
                y = r
                z = 0
            elif j == 3:
                x = 0
                y = -r
                z = 0
            elif j == 4:
                x = 0
                y = 0
                z = r
            elif j == 5:
                x = 0
                y = 0
                z = -r
            elif j == 6:
                x = math.sqrt(r)
                y = math.sqrt(r)
                z = math.sqrt(r)   
            elif j == 7:
                x = -math.sqrt(r)
                y = math.sqrt(r)
                z = math.sqrt(r) 
            elif j == 8:
                x = math.sqrt(r)
                y = -math.sqrt(r)
                z = math.sqrt(r)
            elif j == 9:
                x = -math.sqrt(r)
                y = -math.sqrt(r)
                z = math.sqrt(r)
            elif j == 10:
                x = math.sqrt(r)
                y = math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 11:
                x = -math.sqrt(r)
                y = math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 12:
                x = math.sqrt(r)
                y = -math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 13:
                x = -math.sqrt(r)
                y = -math.sqrt(r)
                z = -math.sqrt(r)
            l = np.linalg.norm([x,y,z])
            bpy.data.objects['Camera'].location[0] = x
            bpy.data.objects['Camera'].location[1] = y
            bpy.data.objects['Camera'].location[2] = z
            bpy.data.objects['Camera'].rotation_euler[0] = np.arccos(z/l)
            bpy.data.objects['Camera'].rotation_euler[1] = 0 * np.pi / 180
            if y < 0:
                bpy.data.objects['Camera'].rotation_euler[2] = np.arctan(-x/(y))
            elif y > 0:
                bpy.data.objects['Camera'].rotation_euler[2] = np.arctan(-x/(y)) + np.pi
            elif y == 0:
                bpy.data.objects['Camera'].rotation_euler[2] = -np.arctan(-x/(y+0.0001))
                    
            filename = dir_path + '\\' + 'level%d.txt'%n
                    #os.makedirs(dir_path)
            f = open(filename, "w")
            i = 0  # Store the number of points in the point cloud
            for item in bpy.data.objects:
                if item.type == 'MESH' and item.name.startswith('Scan'):
                   # print('write once')
                    for sp in item.data.vertices:
                        str = '%#5.3f\t%#5.3f\t%#5.3f \n' % (sp.co[0], sp.co[1], sp.co[2])
                        i = i + 1
                        f.write(str)
            f.close()
            j +=1
            bpy.ops.blensor.delete_scans()
            bpy.ops.blensor.scan()

通过上面的代码，基本可以实现对模型的采样与保存啦，然后由于我学术不精，保存的文件都是txt文件，这就需要再通过python来实现一下批量转化成为ply文件，其他文件的转化可以问问度娘。

3. txt2ply

import os
from tqdm import tqdm

def convert_txt_to_ply(input_file, output_file):
    # 读取文本文件内容
    with open(input_file, 'r') as file:
        lines = file.readlines()

    # 提取数据部分
    data_lines = lines[0:]  # 假设第一行是注释，从第二行开始为数据

    # 构建PLY代码
    ply_code = "ply\n"
    ply_code += "format ascii 1.0\n"
    ply_code += "element vertex {}\n".format(len(data_lines))
    ply_code += "property float x\n"
    ply_code += "property float y\n"
    ply_code += "property float z\n"
    ply_code += "end_header\n"

    for line in data_lines:
        values = line.strip().split()  # 假设数据以空格分隔
        x, y, z = map(float, values)  # 假设数据是三维坐标点
        ply_code += "{} {} {}\n".format(x, y, z)

    # 写入PLY文件
    with open(output_file, 'w') as file:
        file.write(ply_code)
file_path = "/path"#地址地址
# 调用函数进行转换
for i in tqdm(range(150)):
    for j in range(10):
        fp = os.path.join(file_path + '\\raw_model_%d\\TOF2' % i)
        if not os.path.exists(fp):
            os.makedirs(fp)
        convert_txt_to_ply(os.path.join(file_path + '\\raw_model_%d\\tof\\level%d.txt' % (i, j)), os.path.join(fp + '\\level%d.ply' % j))

最后是我的blensor用的代码：

import bpy
import numpy as np
from mathutils import *
import blensor
import os
import random
import math
 
for k in range(150):
    file_path = r"C:\Users\25808\Desktop\new\DATASET"
    file_path = os.path.join(file_path+'\\raw_model_%d.ply' % k)
    bpy.ops.object.select_all(action='DESELECT')
    bpy.ops.object.select_by_type(type='MESH')
    bpy.ops.object.delete()
    bpy.ops.import_mesh.ply(filepath = file_path)    
    bpy.ops.object.select_by_type(type='CAMERA') 
    objects = bpy.context.scene.objects
    object_name = "Camera"  
    for obj in objects:
        if obj.name == object_name:
            obj.select = True
            bpy.context.scene.objects.active = obj
        else:
            obj.select = False
    for n in range(10):
        l = [25,30,35,40,45,50,55,60,65,70]
        bpy.data.objects["Camera"].tof_lens_angle_w = l[n]
        bpy.data.objects["Camera"].tof_lens_angle_h = l[n]
        
        for item in bpy.data.objects:
            if item.type == 'MESH' and item.name.startswith('NoisyScan'):
                bpy.data.objects.remove(item)
            elif item.type == 'MESH' and item.name.startswith('Scan'):
                bpy.data.objects.remove(item)
         
        bpy.ops.blensor.delete_scans()
        bpy.ops.blensor.scan()

        """location"""
        dir_path = "C:\\Users\\25808\\Desktop\\new\\Data10\\raw_model_%d\\tof" % k
        if not os.path.exists(dir_path):
            os.makedirs(dir_path)
        r = 5
        j = 0
        while j <14:
            if j == 0:
                x = r
                y = 0
                z = 0
            elif j == 1:
                x = -r
                y = 0
                z = 0
            elif j == 2:
                x = 0
                y = r
                z = 0
            elif j == 3:
                x = 0
                y = -r
                z = 0
            elif j == 4:
                x = 0
                y = 0
                z = r
            elif j == 5:
                x = 0
                y = 0
                z = -r
            elif j == 6:
                x = math.sqrt(r)
                y = math.sqrt(r)
                z = math.sqrt(r)   
            elif j == 7:
                x = -math.sqrt(r)
                y = math.sqrt(r)
                z = math.sqrt(r) 
            elif j == 8:
                x = math.sqrt(r)
                y = -math.sqrt(r)
                z = math.sqrt(r)
            elif j == 9:
                x = -math.sqrt(r)
                y = -math.sqrt(r)
                z = math.sqrt(r)
            elif j == 10:
                x = math.sqrt(r)
                y = math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 11:
                x = -math.sqrt(r)
                y = math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 12:
                x = math.sqrt(r)
                y = -math.sqrt(r)
                z = -math.sqrt(r)
            elif j == 13:
                x = -math.sqrt(r)
                y = -math.sqrt(r)
                z = -math.sqrt(r)
            l = np.linalg.norm([x,y,z])
            bpy.data.objects['Camera'].location[0] = x
            bpy.data.objects['Camera'].location[1] = y
            bpy.data.objects['Camera'].location[2] = z
            bpy.data.objects['Camera'].rotation_euler[0] = np.arccos(z/l)
            bpy.data.objects['Camera'].rotation_euler[1] = 0 * np.pi / 180
            if y < 0:
                bpy.data.objects['Camera'].rotation_euler[2] = np.arctan(-x/(y))
            elif y > 0:
                bpy.data.objects['Camera'].rotation_euler[2] = np.arctan(-x/(y)) + np.pi
            elif y == 0:
                bpy.data.objects['Camera'].rotation_euler[2] = -np.arctan(-x/(y+0.0001))
                    
            filename = dir_path + '\\' + 'level%d.txt'%n
                    #os.makedirs(dir_path)
            f = open(filename, "w")
            i = 0  # Store the number of points in the point cloud
            for item in bpy.data.objects:
                if item.type == 'MESH' and item.name.startswith('Scan'):
                   # print('write once')
                    for sp in item.data.vertices:
                        str = '%#5.3f\t%#5.3f\t%#5.3f \n' % (sp.co[0], sp.co[1], sp.co[2])
                        i = i + 1
                        f.write(str)
            f.close()
            j +=1
            bpy.ops.blensor.delete_scans()
            bpy.ops.blensor.scan()